Roadway information detection system consists of sensors on the autonomous vehicles and devices for the road

ABSTRACT

A system for an autonomous vehicle by providing road details to the autonomous vehicle. The present invention relates to the guidance of autonomous vehicles and in particular, relates to guiding an autonomous vehicle along a roadway by means of active devices [d 1 ] during normal and inclement weather that will work under any luminous conditions. 
     These active devices [d 1 ] are embedded in the passive/active road details. These details can be signs like stop, speed, no turning, traffic lights, warning lights and etc. These embedded active devices [d 1 ] are not limited to signs as it could be curves, lanes and etc. All current road signs and signals used to inform drivers on the roads can be replaced or coexist with these predefined devices. 
     These devices [d 1 ] will provide the necessary information regarding the road conditions, speed and how the road is layed out and even could provide information on whether there are parking spaces available on the route of autonomous vehicle travels. 
     As the autonomous vehicles traverse the road it will constantly in search of these external devices [d 1 ] to obtain latest information for the road that it is travelling on in order to decide how to navigate the road. The information could be the layout of the road and/or the speed it needs to travel and if there are any stops ahead, parking and etc. These devices [d 1 ] are embedded or co-exist with signs, curves and other road information. 
     With the networks of sensors and devices [d 1 ] deployed it will be most economical ways of obtaining the road details in real-time and in any weather and/or lighting conditions and/or visibilities.

FIELD OF THE INVENTION

The present invention relates to the guidance of autonomous vehicles and in particular, relates to guiding an autonomous vehicle along a roadway by means of active devices [d1] during normal and inclement weather that will work under any luminous conditions.

BACKGROUND

The Proposed sensor devices are strategically placed in or on the vehicle that will detect active devices [d1]. The Devices [d1] could be self-powered by solar and/or batteries with active electronics to process approaching vehicles or/and pedestrians for where powers are not readily available. This self-contained or/and networked device[d1] will either receive a discovery signal from the approaching vehicle or self-detect the vehicle/pedestrian or even provided by the network. Once either vehicle or pedestrian is known then the device[d1] will either reply with the predetermined information to the vehicle or/and has already display the “status” (ie: stop sign) or/and it displays the information.

Currently, the autonomous vehicles are helpless and can't or don't know the signs or road details without aid of camera system or detailed pre-mapped system of navigation. In use today, the navigation system is either GPS based for obtaining details of the roads or/and uses LiDAR, or/and optical (Camera) based for mapping of the road network sign(s) in conjunction with pre-mapped extremely detailed road information. This pre-mapping of the road is inefficient and, in most cases, impractical if there are continual changes to the roadways (especially with the rate of change ranging from daily to hourly). These constant changes can create havoc to autonomous vehicles on the road if they do not have the latest updates or if there are changes of the road networks. This could potentially result in a big catastrophe. Even if feasible, the amount of changes will require a multitude of road networks to be re-mapped. This will not give the autonomous vehicles the information it needs to navigate the roadway in a timely manner.

Furthermore, current technologies such as camera (optical), LiDAR, and other roadway interpretation systems fail under severe weather conditions and under certain luminous conditions. As such, the present invention claims will help evolve the self-driving, autonomous vehicles to navigate the road in a more effective manner under normal or severe weather condition and any luminous conditions.

Based on the preliminary research of the current technologies that are deployed or proposed to solve the navigation for the autonomous vehicles on our roads today, all fail to navigate under inclement weather conditions and are costly to implement. However, the present invention below represents a more economical and efficient way to implement a self-assisted navigation system. For example, one of the claims is to modify the existing passive signage(s) to an active device so that sensors on the autonomous vehicle can accurately pick up the information ahead before it traverse the road. These details of the road could be a simple stop sign(s) or parking spaces available ahead on the road and can be even adapted to provide information from pass stop to approaching autonomous bus—especially under (inclement weather and any luminous) conditions.

SUMMARY OF INVENTION

This disclosure relates to an autonomous vehicle and a system for controlling the vehicle, more specifically, the present disclosure is directed towards autonomous vehicles with a plurality of sensor devices to read road information then to navigate along the roadway.

It is the objective of the present disclosure to provide an improved autonomous vehicle and a system of sensor devices for detecting the road information from passive signage(s)/traffic cone(s) which can be read/received when in severe weather conditions and/or luminous conditions.

According to an aspect of the disclosure it is to provide an autonomous vehicle, comprising:

-   -   A system of sensor devices strategically placed on an autonomous         vehicle to read/receive road information whereby this         information is then processed by a hub, then passed onto either         an autonomous control system and/or 3D map navigation database         system to decide on how to navigate the road safely in a         real-time manner, the system comprises of:         -   The hub includes processing and storage capability;         -   Sensor devices on the vehicle consisting of components that             will transmit a discovery signal, and received information             from active devices on the roadway;         -   Wherein the hub, once the roadway information is processed             it is then communicated back to the autonomous control             system and/or 3D map navigation database system where a             roadway path is formulated for navigation; and         -   Wherein road information is captured and mapped in real-time             for use and updated to the network.

In another aspect of the disclosure it is to provide an autonomous vehicle comprising:

-   -   A non-transitory computer readable storage medium storing         instructions for controlling a system of sensor devices         strategically placed on an autonomous vehicle to read/receive         road information whereby this information is then processed by a         hub, then passed onto either an autonomous control system and/or         3D map navigation database system to decide on how to navigate         the road safely in a real-time manner, the system comprises of:         -   The hub includes processing and storage capability;         -   Sensor devices consisting of components that will transmit a             discovery signal, where the discovery signal will be             transmitted from the vehicle to the active devices [d1] then             the active devices either display or transmit it's             information back to the vehicle or display it's information;         -   Wherein the hub, once the roadway information is processed             it is then communicated back to the autonomous control             system and/or 3D map navigation database system where a             roadway path is formulated for navigation; and         -   Wherein road information is captured and mapped in real-time             for use and updated to the network.

In another aspect of the disclosure it is to provide an autonomous vehicle comprising:

-   -   A method for sensor devices strategically placed on an         autonomous vehicle to read road information whereby this         information is then processed by a hub and then passed onto         either an autonomous control system and/or 3D map navigation         database system to decide on how to navigate the road safely in         a real-time manner, the method comprises of: Providing the hub         with processing and storage capability;         -   Including sensor devices consisting of components that will             transmit a discovery signal, where the discovery signal will             be transmitted from the vehicle where devices on the roadway             can be discovered through reply to the discovery signal             or/and acquired by means of reading the display of the             devices;         -   Processing roadway information in the hub which is then             communicated back to the autonomous control system and/or 3D             map navigation database system, where a roadway path is             formulated for navigation; and         -   Capturing and mapping road information in real-time for use             and updated to the network.     -   Additional objects, features and advantages of the present         invention will become more readily apparent from the following         embodiments when taken in conjunction with the drawings wherein         the reference numerals refer to the corresponding parts in the         several views.

DESCRIPTION OF DRAWINGS

The description herein makes reference to the accompanying drawings below wherein like reference numerals refer to like parts throughout the several views, and wherein:

FIG. 1—A scenario for autonomous vehicle on a road way—is a diagram representing the various devices [d1] that an autonomous vehicle may encounter in a scenario. Each of the red box representing devices[d1] such as the one directional sign, or the no entry sign, traffic signal lights, person walking on the street, to the person riding a bicycle on the roadways and other cars can be view as devices. Where the autonomous vehicle is represented by the red dot on roof of the vehicle are sensor(s). The sensor(s) may be strategically place on the vehicle and may not be necessary on the roof top.

FIG. 2—Showing discovery signal are sent out by the autonomous vehicle, illustrates how the sensors will pick up the signal from the devices around the autonomous vehicle with discovery signal being sent out. Either by active reply or reflected signal from the devices.

FIG. 3—Various road signs/cone and etc, All the passive device(s) signs, cones and other devices are deployed today and in the future can be converted and/or co-exist with the into the embodiment of the invention. These are some of the sample of the roads signs/cones/bus stop that can be converted from passive to active devices that will allow the autonomous vehicle to be aware of while it is travelling the road way network to a destination.

FIG. 4—Sample of stop signs being converted from passive to active devices it illustrates a stop sign that can be converted from passive device to active devices with powered active electronics powered by solar arrays and/or batteries. There could be a combination power sources that power this device. In this figure, we have 1. Solar array —collects power from sun light; either is fed directly to the active electronic or via battery. 2. Various sizes or shape of the current passive or/and active information display. 3. Various degrees of movement the solar array can be set to best collect sun energy. 4. Pivot point holding the solar array and/or various sensors and/or antenna. Can be place anywhere that is best to collect maximum power or best reception or transmission. 5. This represents the active electronic housing. 6. A post that is placed on the ground to hold the devices. This is only a representation of device as a sign(s). The device can also be a parking space indicator/information system for the autonomous vehicle where the parking spaces are free or occupied within the road way. Where there are sensor that will detect if there is a vehicle occupying the space or not. Or traffic lights, pedestrian, traffic light(s). The holy grail of this invention is a road side information (device) active or passive being alerted by the autonomous vehicle (sensor) in real time and in any weather or luminous conditions.

Devices (could have all the below components or part of it and other future components that are not identified below. It depends on the application):

Electronics

-   -   Active network connection         -   Wired         -   wireless     -   Power source         -   Batteries         -   Solar panel         -   On site electrical power from utilities grid         -   Temporary power from autonomous vehicles     -   Camera or RF technology     -   Receiver(s)     -   Transmitter(s)     -   Antenna(s)     -   Sensors for various application (ie. Inferred, audio and etc.)     -   Push button     -   GPS capabilities     -   Sound Generating device(s)     -   All Weather and All Tempering proofing     -   May have active electronic/static display to pedestrians or         visual aid for autonomous vehicles

DETAILED DESCRIPTION

The embedded devices [d1] are either powered up by itself by itself solar or small long lasting batteries or a combination of all of above and/or can be powered by the car by sending energy sources such as microwaves and etc. The sign information is transmitted back to the approaching vehicles by a common frequency that all autonomous vehicles understand and can interpret and process. Both the sign and the autonomous vehicle sensors and devices can potentially work on a dedicated short-range communication (DSRC) but not limited to DSRC. DSRC works in 5.9 GHz band with bandwidth of 75 MHz and approximate range of 1000 m. Vehicular sensors[s2] and road network devices[D1]

FIG. 1 demonstrates a scenario where the RF transmits energy from red dot on the vehicle rooftop to the surrounding area to discover the create a map of the road way and objects around itself. Where the active devices are actively listening to this signal they will either reply or display the information for the vehicle. The sensor can either be a complete unit system with an integrated sectorized antenna (a ruggedized design suitable for withstanding severe weather condition while strategically placed on the inside or outside of the vehicle), or it can simply be the sensor installed inside the vehicle (1) while a ruggedized, sectorized antenna (connected to the sensor via a RF cable) is strategically mounted on the vehicle exterior.

Based on the information read or received, a detail of the environment could be gathered. In order to have sufficient data points to formulate detail of the devices or objects of the roadway, the transmitted signal needs multitudes of samples per second.

Note in order to cover the front, back, and sides of the vehicle, multiple sensors (and their associated antennas) maybe required to be installed. The number of sensors required is dictated by the achievable data point resolution to accurately generate a 3-D map of the road. As such, the sensor antenna coverage beamwidth and gain (to resolve and coherently receive the reflected signal) performance will contribute to the number of sensors required.

FIG. 2 illustrates how the sensors has to continually send out discovery signals as it traverses the road, so that it has total awareness of the device (objects) of the road it is travelling on in order to make a sound and safe decision in real time. The constant changes in the road information will need to be fed to the vehicle or actively seek for it.

FIG. 3 is the embodiment of the invention. This is a representation of a static sign being converted or co-existing with the active electronic that provide the information to travelling autonomous vehicle(s). This also can be adapted to inform the autonomous autobus that there are passenger waiting at the bus stop.

Once the information is processed and the information is parsed and identified then it is sent to the Autonomous Control System (ACS) and/or the 3D map navigation database system. Below briefly explains the function of each entity and how each interacts with one another.

The sensor sends out the discovery signal from the autonomous vehicle to discover the all the devices on the road as it travel.

All the received data from the sensors are processed by the hub. The main goal of the system is to identify all the device(s) on the road that are within certain distance from itself. After the device(s) are identified and processed, this information is passed to the Autonomous Control System and/or the 3D map navigation system. This has to happen in real time and in advance of the path the vehicle is traveling on.

The 3D map navigation database system, where the road networks are detailed and created into three dimensional images so that the autonomous vehicle can use to traverse to its destination or simply find a suitable parking space. In the scenario where the autonomous vehicle relies on using the 3D detailed mapping database system to obtain the devices on the road as it is traveling, then the proposed system will compare the device(s) information on the 3D map to see if it is up to date with the newly acquired information. In the event there are discrepancies and devices are permanently in nature, the system thus flags the changes for the 3D mapping system to make the updated changes. In the event the device(s) are temporary like traffic cones, then the system utilized this real-time information to navigate.

In a scenario where the autonomous vehicle is acquiring the road information in real time, the identified device(s) information is passed directly to the Autonomous Control System (ACS) for use in navigating the roadway. Once the autonomous vehicle has successfully navigated the roadway, then this information is passed to the 3D mapping system to compare and update the information for future use via locally stored or, via other 3D mapping systems on the network.

FIG. 4 sample of stop signs being converted from passive to active devices it illustrates a stop sign that can be converted from passive device to active devices with powered active electronics powered by solar array and/or battery. There could be a combination of solar and constant reliable power, powering this active device. In this figure, we have 1. Solar array —collect power from sun light, either is fed directly to the active electronic or via battery. 2. Various sizes or shapes of the current passive or/and active information display. 3. Various degrees of movement that the solar array can be set to best collect sun energy. 4. Pivot point holding the solar array and/or various sensors and/or antenna. 5. This represents the active electronic housing. 6. A post that is placed on the ground to hold the devices. This is only a representation of device as a sign(s). The device can also be a parking space indicator/information system for the autonomous vehicle where the parking spaces are free or occupied within the road way, where there are sensor that will detect if there is a vehicle occupying the space or not. Or traffic lights, pedestrian, traffic light(s). The holy grail of this invention is a road side information (device) that is active or passive alerting the autonomous vehicle (sensor) in real time and in any weather or luminous conditions.

As all the device(s) are learnt from all sides of the vehicle, this information can be stored in a 3D map navigation database, or the autonomous control system depending on which database is being used. Further, with the mapping the vehicle can update the mapping process for other vehicles in real time if there have been changes to the road due to construction or other such adjustments.

Based on the above, in the referred embodiment depicted, the system will work even under severe adverse weather conditions. The active sensor devices in the autonomous vehicle continue to read the device(s) on the roadway information at certain frequency intervals in real-time. The sensor in the autonomous vehicle can function independently as a stand-alone system or in conjunction with other existing navigation system (such as the GPS or Lidar systems for example) to give it finer details of the roadway that it is travelling on. The proposed system is superior to other existing systems because, unlike other existing systems, this system will continue to work autonomously even under severe weather conditions such as heavy snowstorm, ice, fog or any other inclement weather.

It is important for the autonomous vehicle to have the latest road network details to navigate. These sensors can be strategically placed in, or mounted on, the vehicle to enable them to read the most accurate road information for either a straight or bent road.

Note that the proposed system does not require modification to the existing road networks, with the exception of changing or installing co-exiting active electronics. Thus, to summarize, the following is a sequence of steps that must happen for the autonomous vehicle to navigate the roadway in the most effective manner:

-   -   1. The sensor would send a discovery signal ahead using sonar         like technology for example.     -   2. The road side device(s) either send a reply or display         information back to the source.     -   3. The sensor in the vehicle receives the discovered information         signal and passes it on to the processing hub.     -   4. The hub interprets/processes the information as it receives         it in real time.     -   5. The processed information is translated to a format that is         consumable by the autonomous control system or 3D map navigation         database system.     -   6. The autonomous control system or 3D map navigation database         system processes the information and makes decision based on the         received discovered signals from the proposed device(s).

In order to have the most effective and accurate road information, the sensors would read the information from ahead and from both sides of the vehicle to determine the road way structures and objects. Each side of the road may provide different information as the vehicle travels ahead. Once the information is obtained by the autonomous control system and/or 3D map navigation database system, it then processes it and formulates a decision on how to best navigate. The proposed system will work under any weather condition.

Although described with reference to referred embodiments of the invention, it should be readily understood that various changes and/or modifications can be made to the invention without departing from the spirit thereof. In general, the invention is only intended to be limited by the scope of the following claims.

Thus, the following outlines a set of claims that will help or evolve the self-driving, autonomous vehicles to navigate the road in a more effective manner under normal or sever weather and luminous condition: 

1. A system of sensors and devices that can communicate on dedicated short-range communications (DSRC) but not limited to DSRC are strategically placed on an autonomous and a roadway, the sensors placed on the autonomous vehicle and the devices placed on the road; the sensors read the information from the road though the DSRC, can be processed and interpreted by an autonomous vehicle control system to navigate safely on the road in a real-time manner, the system comprises of: a. hub with processing and storage capability; b. Sensors consisting of active components that will transmit a discovery signal ahead and/or adjacent, and/or rear to the vehicle so that the road devices can be discovered; c. wherein the sensor will continually send out signals of discovery to obtain the road information from the devices; d. The devices receive the discovery signals; e. The device then prepares the predefined information and replies to the discovery signal; f. The sensors receive the reply of the discovery signal from the device with all the details such as stop, speed or other road details like bus stop; g. The reply is processed at the sensory processing unit to allow it to determine what kind of road information it has received so that it can guide or passes on to the autonomous vehicles controlling system while the vehicle is in transit; h. After the road information is processed and is determined by the sensory processing unit the information is communicated to the autonomous vehicle control system; i. The control system will act on the information and decide based on the information on how to navigate through the road; j. This system functions under normal or adverse weather condition(s) and will function under any luminous conditions;
 2. The system of sensors of claim 1 are outside of the autonomous vehicles that are also active electronics that can receive discovery and/or power from autonomous vehicle sensor;
 3. The systems of sensors of claim 1 are active components that will replace and/or co-exist with the passive components like the stop, speed, parking signs, traffic cone, bus stop and road details;
 4. The systems of sensors of claim 1 are passive components of conductive and non-conductive materials that will replace and/or co-exist with the passive components like the stop, speed, parking signs, traffic cone, bus stop, lane markers and other road details;
 5. The system of sensors of claim 1 wherein the devices are powered by: a. Discovery signal; b. Constantly reliable utility power with battery back-up; c. Solar power with battery back-up; or d. Combination of solar, utility, battery and discovery signal power from vehicle(s);
 6. A method comprising: A. Placing sensor devices strategically on an autonomous vehicle to read road information; B. Placing the device on the road either on the signs or other methods; C. The sensor would send a discovery signal ahead using sonar like technology for example; D. The road side device(s) either send a reply or display information back to the source; E. The sensor in the vehicle receives the discovered information signal and passes it on to the processing hub; F. The hub interprets and processes the information as it receives it in real time. G. The processed information is translated to a format that is consumable by the autonomous control system or 3D map navigation database system. H. The autonomous control system or 3D map navigation database system processes the information and makes decision based on the received discovered signals from the proposed device(s). I. Connecting the Sensor to Hub whereby this information is then processed by the hub; J. Passing the processed information from the hub onto either the autonomous control system and/or 3D map navigation database system to determine the best navigation route in real-time manner; K. Providing the hub with processing and storage capability; L. The sensor devices consisting of components that will transmit a discovery signal, where the discovery signal will be transmitted from the vehicle where lane markers on the roadway can be discovered through signal processing of the reflected signals; M. Processing roadway information in the hub which is then communicated back to the autonomous control system and/or 3D map navigation database system, where a roadway path is formulated for navigation; and N. Capturing and mapping road information in real-time for use and updated to the network.
 7. A method of claim 1 are outside of the autonomous vehicles that are also active electronics that can receive discovery and/or power from autonomous vehicle sensor;
 8. A method of claim 1 are active components that will replace and/or co-exist with the passive components like the stop, speed, parking signs, traffic cone, bus stop and road details.
 9. A method of claim 1 wherein the devices are powered by: a. Discovery signal; b. Constantly reliable utility power with battery back-up; c. Solar power with battery back-up; or d. Combination of solar, utility, battery and discovery signal power from vehicle(s); 